Validation of multibody modeling and simulation using an instrumented bicycle: from the computer to the road

This paper describes the use of an instrumented bicycle and its computational model for teaching multibody dynamics. The presented approach employs the Whipple model for the kinematic and inverse dynamic simulation of a bicycle ride using as an input three generalized coordinates registered with digital sensors. During the experimental phase, students ride the instrumented bicycle to collect the necessary sensor data. The kinematic and inverse dynamic simulations based on these signals provide a full picture of the motion of the system in different positions and at a range of velocities and accelerations. In addition, they estimate the traction, control, and tire-to-road contact forces during the ride. To validate the simulated results, the simulated velocity and accelerations are compared with the data acquired with an inertial measurement unit (IMU) installed on the bicycle. The paper describes the experimental setup of the instrumented bicycle, enabling readers to build the very same system for their own educational use. The instrumented bicycle system is based on open-source software and as much as possible on open hardware.